CN210456128U

CN210456128U - Handling equipment on goods shelves

Info

Publication number: CN210456128U
Application number: CN201921101852.4U
Authority: CN
Inventors: 鲁春强; 苑忠春; 王俊; 张毅; 龚金华; 胡超; 章兴睿
Original assignee: Nanjing Nexing Automation System Co ltd
Current assignee: Nanjing Nexing Automation System Co ltd
Priority date: 2019-07-15
Filing date: 2019-07-15
Publication date: 2020-05-05
Anticipated expiration: 2029-07-15

Abstract

The utility model discloses a carrying device on a goods shelf, which comprises a shuttle, a grabbing platform positioned in the shuttle and a retracting device; the picking platform is pulled upwards or downwards by the retracting device; the grabbing platform is provided with a grabbing device; the work of getting from reciprocating of getting of workbin is realized through reciprocating of snatching the platform. The operation of taking and placing the material box can be realized when the carrying device can walk on the track above the material box. The handling device may not take up space in the lateral direction of the magazine.

Description

Handling equipment on goods shelves

Technical Field

The utility model belongs to commodity circulation transport storage system field, especially a haulage equipment for getting get and put workbin.

Background

Most of the current warehousing systems still adopt the traditional structures, namely, the structures of a goods shelf, a track and a shuttle car. For example, chinese patent application publication No. 1579899a discloses an automated material handling system, which includes a conveying track (overhead traveling crane track), a conveying vehicle (overhead traveling crane), and a storage cabinet. The conveying vehicle can move on the conveying track. The conveying vehicle moves to the position of a storage cabinet where goods need to be taken and placed, and the operation of taking and placing the goods (material boxes) is performed. However, in the structure of the middle storage system, the positions of the goods shelves and the shuttle track (crown block track) need to be reserved respectively during the setting, and the track position of the shuttle cannot store goods. In a small space warehouse environment, the shuttle rails occupy a certain amount of space resulting in limited storage of goods. If the shuttle car is placed above the material box, the operation of taking and placing the material box cannot be finished by the structure of the shuttle car.

Therefore, a new technical solution is needed to solve the above technical problems.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides a haulage equipment on goods shelves, this goods shelves haulage equipment can get the operation of putting to the workbin of below.

The technical scheme is as follows: the utility model discloses can adopt following technical scheme:

the carrying equipment on the goods shelf comprises a shuttle and a grabbing platform positioned in the shuttle; the shuttle car comprises a car body, wheels and a retraction device connected with the grabbing platform; the picking platform is pulled upwards or downwards by the retracting device; the grabbing platform is provided with a grabbing device; the retraction device comprises two mutually parallel lifting dragging shafts and a lifting motor which are positioned in the vehicle body; each lifting dragging shaft is provided with two steel belts wound on the lifting dragging shaft, and the bottom end of each steel belt is fixed on the grabbing platform; the lifting dragging shaft is provided with driven belt wheels, the output shaft of the lifting motor is provided with two coaxial driving belt wheels, the two driving belt wheels are driven by a belt to rotate respectively, and the grabbing platform moves upwards or downwards through the rotation of the lifting dragging shaft.

Has the advantages that: compared with the prior art, the utility model provides a handling device realizes the workbin from getting of reciprocating and putting the operation through reciprocating of snatching the platform. The operation of taking and placing the material box can be realized when the carrying device can walk on the track above the material box. The handling device may not take up space in the lateral direction of the magazine.

Drawings

Fig. 1 is a perspective view of a physical distribution handling storage system.

Fig. 2 is a perspective view of the carrying device on the shelf according to the present invention.

Fig. 3 is a perspective view of the conveyance apparatus.

Fig. 4 is a perspective view of the internal structure of the carrier device when receiving the bin.

Fig. 5 is a side view of the handling apparatus and shows the state when the slide is in the first position.

Fig. 6 is a side view of the handling apparatus and shows the state when the slide is in the second position.

Fig. 7 is a schematic view of the internal structure of the conveyance apparatus.

FIG. 8 is a perspective view of the storage device, the grasping platform, and the bin in combination.

Figure 9 is a schematic view of one end of the retraction device.

FIG. 10 is a side view of the receiving and dispensing device, the grasping platform, and the bin in combination.

Figure 11 is a schematic view of the jaws in cooperation with the magazine.

Fig. 12 is a schematic view of the jaw device when the bottom end of the first swing link is opened relative to the second swing link.

FIG. 13 is a schematic view of the jaw apparatus when the bottom end of the first swing link is retracted relative to the second swing link.

Fig. 14 is a top view of the grasping device.

Figure 15 is a perspective view of a bin.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments.

As shown in fig. 1 and fig. 3, the utility model discloses a handling equipment 100 on goods shelves can realize getting of lower workbin and put. As shown in fig. 1 and 2, a rack 200 suitable for the carrying apparatus 100 includes a rail layer 210 for carrying the carrying apparatus 100, and a plurality of bin accommodating wells 220 extending downward and located below the rail layer 210. The bins 300 are stacked in the bin accommodating well 220 from the bottom up. The track layer includes a plurality of tracks arranged in a shape of a "well", and the carrying apparatus 100 moves on the tracks to above the bin accommodating well 220 where the bin 300 to be carried is located, and carries out or returns the bin 300 into the bin accommodating well 220.

The handling apparatus includes a shuttle car 110 and a grasping platform 120 located within the shuttle car 110. The shuttle 110 includes a body, wheels that travel on a track layer 210, and a retraction device 130 connected to a grasping platform 120. The retraction device 130 pulls the gripping platform 120 up or down. The gripper platform 120 is provided with a gripper device 140 for gripping the magazine 300. The bottom of the shuttle car 110 has a receiving cavity 150 that receives the bin 300.

Referring to fig. 3 to 7, the body of the shuttle 110 includes an upper body 111, a lower body 112, and a reversing device 160. A first group of wheels 113 are arranged on two side surfaces of the upper vehicle body 111; a second set of wheels 114 are mounted on both end faces of the lower body 112. The rotational axis of the first set of wheels 113 is perpendicular to the rotational axis of the second set of wheels 114. That is, the traveling direction of the first set of wheels 113 is perpendicular to the traveling direction of the second set of wheels 114, and corresponds to the "cross" shaped track on the track layer 210, and if the first set of wheels 113 travels in the first direction on the track layer 210, the second set of wheels 114 travels in the second direction on the track layer 210. The "side surfaces" and the "end surfaces" proposed in the present embodiment are provided to distinguish the mounting positions of the first group of wheels 113 and the second group of wheels 114, that is, the "side surfaces" and the "end surfaces" are in a mutually perpendicular relationship, and therefore the traveling direction after the first group of wheels 113 and the second group of wheels 114 are mounted is also perpendicular, and the definition of the "side surfaces" and the "end surfaces" is independent of the shape of the upper vehicle body 111 or the lower vehicle body 112.

The reversing device 160 includes a reversing motor 161 mounted on the lower body 112, a reversing shaft 162 driven by the reversing motor 161 to rotate, and a crank 163 mounted on one end of the reversing shaft 162. At least one end surface of upper body 111 is provided with a lateral groove 115 located above lower body 112. One end of the crank 163 is connected to the reversing shaft 162. The other end of the crank 163 is provided with a slider 164 which is located in the transverse slot 115. When the reversing shaft 162 drives the crank 163 to rotate, the slider 164 moves in the transverse slot 115 to drive the lower vehicle body 112 to ascend or descend relative to the upper vehicle body 111. When the sliding block 164 moves to the first position, the bottom of the second set of wheels 114 is lower than the bottom of the first set of wheels 113, that is, the second set of wheels 114 contacts the track layer 210, and the second set of wheels 114 drives the carrying device 100 to move. When the sliding block 164 moves to the second position, the bottom of the second set of wheels 114 is higher than the bottom of the first set of wheels 113, that is, the first set of wheels 113 contacts the track layer 210, and the first set of wheels 113 drives the carrying device 100 to move.

In the present embodiment, the lower half portions of the two end surfaces of the upper vehicle body 111 have openings for receiving the lower vehicle body, the end surface of the lower vehicle body 112 is positioned in the openings, and the lateral grooves 115 are positioned above the openings, i.e., above the end surfaces of the lower vehicle body 112. Further defining preferred first and second positions: the first position is a position where the slider 164 is located when the crank 163 is perpendicular to the surface of the track layer 210, that is, the crank 163 is in a vertical state to lift the upper vehicle body 111 upward relative to the lower vehicle body 112. The second position is the position where the sliding block 164 is located when the sliding block 164 moves from the first position to the lateral groove 115 side to drive the lower vehicle body 112 to ascend relative to the upper vehicle body 111 until the bottom of the second set of wheels 114 is higher than the bottom of the first set of wheels 113. In order to stabilize the relative movement of the upper body 111 with respect to the lower body 112 during the reversing process, a sliding groove 1112 extending up and down is provided inside the side surface of the upper body 111, and a sliding block (not numbered) is provided inside the side surface of the upper body 111 and sliding in the sliding groove 1112, namely, as shown in fig. 4, the side surface 1121 of the lower body 112 is located inside the side surface of the upper body 111. The interference fit between the slider and the slide groove 1112 enables the lower vehicle body 112 and the upper vehicle body 111 to move only up and down relatively, thereby stabilizing the reversing operation.

The reversing shaft 162 is provided with a belt wheel or gear 165. When the reversing shaft is provided with a belt wheel 165 (in this embodiment, the belt wheel is selected as shown in fig. 4), the output shaft of the reversing motor 161 is also provided with a belt wheel and a belt 166, and the reversing shaft 162 is driven to rotate by the belt. In another embodiment, when the reversing shaft 162 is a gear, the output shaft of the reversing motor 161 is also provided with a gear and drives the reversing shaft 162 to rotate through gear transmission.

As shown in fig. 7, a first reduction motor 116 for driving a first set of wheels to rotate and a second reduction motor 117 for driving a second set of wheels to rotate are disposed in the vehicle body; the first and

second reduction motors

116 and 117 are located above the grasping platform 120 so as not to interfere with the grasping platform 120. In this embodiment, the first reduction motor 116 is used to drive the first set of wheels on one side of the upper vehicle body as the driving wheels, and the first set of wheels on the other side of the upper vehicle body as the driven wheels, and a belt transmission manner is adopted, which will not be described in detail herein.

As shown in fig. 8 to 10, the retraction device 130 includes two parallel lifting pulling shafts 131 and a lifting motor 132 located in the vehicle body. Each lifting and dragging shaft 131 is provided with two steel belts 133 wound on the lifting and dragging shaft, and the bottom end of each steel belt 133 is fixed on the grabbing platform 120. The lifting dragging shafts 131 are all provided with driven pulleys 134. Two coaxial driving pulleys 135 are arranged on the output shaft of the lifting motor 132, and respectively drive two driven pulleys 134 to rotate through belt transmission, and the grabbing platform 120 is moved upwards or downwards through the rotation of the lifting dragging shaft 131. Since the two driven pulleys 134 rotate in opposite directions, the two steel belts 133 should be wound around the lifting pulling shaft 131 in opposite directions to perform the simultaneous lifting or simultaneous lowering functions. Both ends of the two lifting and pulling shafts 131 are provided with bearings 136 mounted on the vehicle body, and the tail end of the output shaft of the lifting motor 132 is also provided with a bearing 137 mounted on the vehicle body. As shown in fig. 4, the side surface 1121 of the lower body 112 is a flat plate, and the side surface 1121 is low in height and is always positioned below the storage device 130 during vertical movement, so as not to interfere with the storage device 130.

Referring to fig. 11 to 14, the grabbing device 140 of the grabbing platform 120 includes a claw device 141 and a claw driving motor 142. The jaw device 141 includes two jaws 143, an upper connecting rod 144, a lower connecting rod 145 and a connecting rod crank 146, which are installed on the same outer side of the grabbing platform 120. Each jaw 143 includes a first swing link 147 and a second swing link 148 which are hinged to each other in a crossing manner. At least one of the bottom end of the first swing link 147 and the bottom end of the second swing link 148 is provided with a hook 149 bent outward. The first swing link 147 and the second swing link 148 are crossed to form an X shape, and the upper end of the first swing link 147 is higher than the upper end of the second swing link 148. The upper ends of the two first swing rods 147 are hinged with the two ends of the upper connecting rod 144 respectively; the upper ends of the two second swing rods 148 are hinged with the two ends of the lower connecting rod 145 respectively. An upper convex block 1461 is arranged at one end of the connecting rod crank 146, and a lower convex block 1462 is arranged at the other end of the connecting rod crank 146. The upper link 144 has an upper cross slot 1441, and the upper cam 1461 is located in the upper cross slot 1441 and slides in the upper cross slot 1441. Lower link 145 is provided with a lower lateral slot 1451 and lower cam 1462 is positioned within lower lateral slot 1451 and slides within lower lateral slot 1451. The jaw driving motor 142 rotates the connecting rod crank 146 relative to the upper connecting rod 144 and the lower connecting rod 145. When the upper link 144 and the lower link 145 are separated from each other by the link crank 146, the bottom end of the first swing link 147 is opened outward with respect to the bottom end of the second swing link 148. When the connecting rod crank 146 approaches the upper connecting rod 144 and the lower connecting rod 145, the bottom end of the first swing link 147 is retracted inward relative to the bottom end of the second swing link 148. In this embodiment, the gripping device 140 includes two symmetrically arranged jaw devices, wherein the two jaws 143 of one jaw device are located on one side of the gripping platform 120, and the two jaws 143 of the other jaw device are located on the other side of the gripping platform 120. The grasping device 140 further includes a linkage shaft 1401. The two ends of the linkage shaft 1401 are respectively connected with the cranks 146 of the two jaw devices, a synchronous pulley 1402 is arranged on the linkage shaft 1401, and the jaw driving motor 142 drives the linkage shaft 1401 to rotate through the synchronous belt 1403.

In order to cooperate with the gripping device 140, the magazine 300 is provided with slots 310 corresponding to the jaws 143. When the bottom end of the first swing link 147 of the jaw 143 is retracted inward relative to the bottom end of the second swing link 148, the jaw 143 freely enters and exits the slot 310 in a closed state, and if the bin 300 is placed down, the jaw 143 is separated from the bin 300 in the closed state. When the bottom end of the first swing link 147 is opened outwards relative to the bottom end of the second swing link 148, the hook 149 forms the parts of the bin at the two ends of the slot 310, and when the bin 300 needs to be pulled upwards, the four claws 143 hook the bin 300 in the opened state, so that the bin 300 can be pulled upwards.

Referring to fig. 11 to 15, in the present embodiment, the grabbing platform 120 is rectangular, and four corners of the grabbing platform 120 are provided with downwardly extending guide posts 121, four corners of the bin 300 are provided with inwardly concave guide grooves 301, and the guide grooves 301 are matched with the guide posts 121 in a one-to-one correspondence manner. When the grabbing platform 120 needs to contact with the bin 300 to grab the bin 300, the guide columns 121 are correspondingly matched with the guide grooves 301 of the bin 300 one by one to perform pre-positioning, and when the grabbing platform 120 moves downwards to a proper position, the pre-positioning can enable the positions of the clamping jaws 143 and the clamping grooves 310 to be accurately positioned, so that the matching operation of the clamping jaws 143 and the clamping grooves 310 is facilitated. Meanwhile, in the process of matching the clamping jaws 143 with the clamping grooves 310, the relative positions of the grabbing platform 120 and the material box 300 are fixed due to the positioning matching of the guide columns 121 and the guide grooves 301, so that the matching operation of the clamping jaws 143 and the clamping grooves 310 is facilitated.

In addition, the specific implementation methods and ways of the present invention are numerous, and the above description is only the preferred embodiment of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. The carrying equipment on the goods shelf is characterized by comprising a shuttle and a grabbing platform positioned in the shuttle; the shuttle car comprises a car body, wheels and a retraction device connected with the grabbing platform; the picking platform is pulled upwards or downwards by the retracting device; the grabbing platform is provided with a grabbing device;

the retraction device comprises two mutually parallel lifting dragging shafts and a lifting motor which are positioned in the vehicle body; each lifting dragging shaft is provided with two steel belts wound on the lifting dragging shaft, and the bottom end of each steel belt is fixed on the grabbing platform; the lifting dragging shaft is provided with driven belt wheels, the output shaft of the lifting motor is provided with two coaxial driving belt wheels, the two driving belt wheels are driven by a belt to rotate respectively, and the grabbing platform moves upwards or downwards through the rotation of the lifting dragging shaft.

2. The transfer apparatus according to claim 1, wherein: the two ends of the two lifting dragging shafts are respectively provided with a bearing arranged on the vehicle body, and the tail end of the output shaft of the lifting motor is also provided with a bearing arranged on the vehicle body.

3. The transfer apparatus according to claim 1, wherein: the grabbing device of the grabbing platform comprises a claw device and a claw driving motor; the claw device comprises two claws, an upper connecting rod, a lower connecting rod and a connecting rod crank, wherein the two claws, the upper connecting rod, the lower connecting rod and the connecting rod crank are arranged on the same outer side of the grabbing platform; each clamping jaw comprises a first swing rod and a second swing rod which are mutually crossed and hinged, at least one of the bottom end of the first swing rod and the bottom end of the second swing rod is provided with a clamping hook which is bent outwards, the first swing rod and the second swing rod are crossed to form an X shape, and the upper end of the first swing rod is higher than the upper end of the second swing rod; the upper ends of the two first swing rods are respectively hinged with the two ends of the upper connecting rod; the upper ends of the two second swing rods are respectively hinged with the two ends of the lower connecting rod; an upper lug is arranged at one end of the connecting rod crank, and a lower lug is arranged at the other end of the connecting rod crank; the upper connecting rod is provided with an upper transverse groove, the upper convex block is positioned in the upper transverse groove and slides in the upper transverse groove, the lower connecting rod is provided with a lower transverse groove, and the lower convex block is positioned in the lower transverse groove and slides in the lower transverse groove; the jack catch driving motor drives the connecting rod crank to rotate relative to the upper connecting rod and the lower connecting rod, when the connecting rod crank separates the upper connecting rod from the lower connecting rod, the bottom end of the first swing rod is opened outwards relative to the bottom end of the second swing rod, and when the connecting rod crank approaches the upper connecting rod and the lower connecting rod to each other, the bottom end of the first swing rod is retracted inwards relative to the bottom end of the second swing rod.

4. The handling apparatus according to claim 1 or 2, characterized in that: the shuttle car body comprises an upper car body, a lower car body and a reversing device; a first group of wheels are arranged on two side surfaces of the upper vehicle body; a second group of wheels are arranged on two end surfaces of the lower vehicle body; the rotating shafts of the first group of wheels are vertical to the rotating shafts of the second group of wheels; the reversing device comprises a reversing motor arranged on the lower vehicle body, a reversing shaft driven by the reversing motor to rotate and a crank arranged at one end of the reversing shaft; a transverse groove positioned above the lower vehicle body is arranged on at least one end surface of the upper vehicle body, one end of the crank is connected with the reversing shaft, and the other end of the crank is provided with a sliding block positioned in the transverse groove; when the reversing shaft drives the crank to rotate, the sliding block moves in the transverse groove to drive the lower vehicle body to ascend or descend relative to the upper vehicle body; when the sliding block moves to the first position, the bottom of the second group of wheels is lower than that of the first group of wheels; when the slide block moves to the second position, the bottom of the second group of wheels is higher than the bottom of the first group of wheels.

5. The transfer apparatus according to claim 4, wherein: a first speed reduction motor for driving the first group of wheels to rotate and a second speed reduction motor for driving the second group of wheels to rotate are arranged in the vehicle body; the first speed reduction motor and the second speed reduction motor are located above the grabbing platform.

6. The transfer apparatus according to claim 5, wherein: the grabbing platform is in a cuboid shape, and four corners of the grabbing platform are provided with guide posts extending downwards.